We propose in this paper a minimal speed-based pedestrian model for which particle dynamics are intrinsically collision-free. The speed model is an optimal velocity function depending on the agent length (i.e. particle diameter), maximum speed and time gap parameters. The direction model is a weighted sum of exponential repulsion from the neighbors, calibrated by the repulsion rate and distance. The model's main features like the reproduction of empirical phenomena are analysed by simulation. We point out that phenomena of self-organisation observable in force-based models and field studies can be reproduced by the collision-free model with low computational effort.

No abstract